Part2a - Launch file part II
Basic ROS2 launch file , control node name and namespace
Table of Content
launch source code#
hello.launch.py
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
ld = LaunchDescription()
talker_node = Node(
package="basic",
namespace="my_ns",
name="my_pub",
executable="simple_pub",
)
listener_node = Node(
package="basic",
namespace="my_ns",
name="my_sub",
executable="simple_sub"
)
ld.add_action(talker_node)
ld.add_action(listener_node)
return ld
Usage#
- launch
- node list
- topic list
- rqt_graph
launch#
- log output note ns.node_name
ros2 launch basic hello.launch.py
...
[simple_pub-1] [INFO] [1651090792.927189288] [my_ns.my_pub]: Publishing: "pub simple: 1"
[simple_sub-2] [INFO] [1651090792.927732100] [my_ns.my_sub]: I heard: pub simple: 1
node list#
ros2 node list
# Result
/my_ns/my_pub
/my_ns/my_sub
topic list#
ros2 topic list
/my_ns/minimal
/parameter_events
/rosout
rqt_graph#
